fixes for RemoteGUIHelper

examples/ExampleBrowser/CMakeLists.txt

@@ -171,6 +171,14 @@ SET(BulletExampleBrowser_SRCS
 	../SharedMemory/PhysicsClientSharedMemory_C_API.cpp
 	../SharedMemory/PhysicsClient.cpp
 	../SharedMemory/PhysicsClientC_API.cpp
+	../SharedMemory/GraphicsServerExample.cpp
+	../SharedMemory/GraphicsClientExample.cpp
+	../SharedMemory/RemoteGUIHelper.cpp
+	../SharedMemory/GraphicsServerExample.h
+	../SharedMemory/GraphicsClientExample.h
+	../SharedMemory/RemoteGUIHelper.h
+	../SharedMemory/GraphicsSharedMemoryCommands.h
+	../SharedMemory/GraphicsSharedMemoryPublic.h
 	../SharedMemory/PhysicsServerExample.cpp
 	../SharedMemory/PhysicsServerExampleBullet2.cpp
 	../SharedMemory/PhysicsClientExample.cpp

examples/RobotSimulator/CMakeLists.txt

@@ -15,6 +15,14 @@ RobotSimulatorMain.cpp
 	MinitaurSetup.cpp
 	MinitaurSetup.h
 	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
+	../SharedMemory/GraphicsServerExample.cpp
+	../SharedMemory/GraphicsClientExample.cpp
+	../SharedMemory/RemoteGUIHelper.cpp
+	../SharedMemory/GraphicsServerExample.h
+	../SharedMemory/GraphicsClientExample.h
+	../SharedMemory/RemoteGUIHelper.h
+	../SharedMemory/GraphicsSharedMemoryCommands.h
+	../SharedMemory/GraphicsSharedMemoryPublic.h
 	../../examples/SharedMemory/PhysicsServerExample.cpp
 	../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
 	../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp		

examples/SharedMemory/RemoteGUIHelper.cpp

@@ -363,7 +363,7 @@ int RemoteGUIHelper::uploadData(const unsigned char* data, int sizeInBytes, int
 		{
 			for (int i = 0; i < curBytes; i++)
 			{
-				m_data->m_testBlock1->m_bulletStreamData[i] = data[i];
+				m_data->m_testBlock1->m_bulletStreamData[i] = data[i+offset];
 			}
 			
 			cmd->m_updateFlags = 0;

examples/TwoJoint/CMakeLists.txt

@@ -32,6 +32,14 @@ SET(RobotSimulator_SRCS
 		../../examples/SharedMemory/PhysicsClient.h
 		../../examples/SharedMemory/PhysicsServer.cpp
 		../../examples/SharedMemory/PhysicsServer.h
+		../SharedMemory/GraphicsServerExample.cpp
+		../SharedMemory/GraphicsClientExample.cpp
+		../SharedMemory/RemoteGUIHelper.cpp
+		../SharedMemory/GraphicsServerExample.h
+		../SharedMemory/GraphicsClientExample.h
+		../SharedMemory/RemoteGUIHelper.h
+		../SharedMemory/GraphicsSharedMemoryCommands.h
+		../SharedMemory/GraphicsSharedMemoryPublic.h
 		../../examples/SharedMemory/PhysicsServerExample.cpp
 		../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
 		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

examples/pybullet/CMakeLists.txt

@@ -55,6 +55,14 @@ SET(pybullet_SRCS
 		../../examples/SharedMemory/PhysicsClient.h
 		../../examples/SharedMemory/PhysicsServer.cpp
 		../../examples/SharedMemory/PhysicsServer.h
+		../SharedMemory/GraphicsServerExample.cpp
+		../SharedMemory/GraphicsClientExample.cpp
+		../SharedMemory/RemoteGUIHelper.cpp
+		../SharedMemory/GraphicsServerExample.h
+		../SharedMemory/GraphicsClientExample.h
+		../SharedMemory/RemoteGUIHelper.h
+		../SharedMemory/GraphicsSharedMemoryCommands.h
+		../SharedMemory/GraphicsSharedMemoryPublic.h
 		../../examples/SharedMemory/PhysicsServerExample.cpp
 		../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
 		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

examples/pybullet/examples/inverse_kinematics.py

@@ -40,8 +40,8 @@ useNullSpace = 1
 useOrientation = 1
 #If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
 #This can be used to test the IK result accuracy.
-useSimulation = 0
+useSimulation = 1
-useRealTimeSimulation = 1
+useRealTimeSimulation = 0
 ikSolver = 0
 p.setRealTimeSimulation(useRealTimeSimulation)
 #trailDuration is duration (in seconds) after debug lines will be removed automatically
@@ -49,17 +49,17 @@ p.setRealTimeSimulation(useRealTimeSimulation)
 trailDuration = 15
 
 i=0
-while i<5:
+while 1:
   i+=1
-  p.getCameraImage(320,
+  #p.getCameraImage(320,
-                   200,
+  #                 200,
-                   flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
+  #                 flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
-                   renderer=p.ER_BULLET_HARDWARE_OPENGL)
+  #                 renderer=p.ER_BULLET_HARDWARE_OPENGL)
   if (useRealTimeSimulation):
     dt = datetime.now()
     t = (dt.second / 60.) * 2. * math.pi
   else:
-    t = t + 0.001
+    t = t + 0.01
 
   if (useSimulation and useRealTimeSimulation == 0):
     p.stepSimulation()